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US 12,364,640 B2Granted
Upper body human to machine interface
AssigneesBoard of Regents, The University of Texas System, Harmonic Bionics, Inc.
InventorsRohit John Varghese, William Wu
Life of this patent
Estimating the term…
Abstract
An embodiment includes an apparatus for coupling a user to a robot to provide robot-assisted physical therapy to the user. Other embodiments are described herein.
Claims13
An apparatus comprising:
- a primary platform configured to support a hand and a forearm;
- a secondary platform statically coupled to the primary platform;
- a primary strap coupled to the primary platform;
- the primary strap configured to secure the forearm to the primary platform;
- a secondary strap coupled to the secondary platform, the secondary strap configured to secure the hand to the secondary platform;
- and
- a coupler to couple the primary platform to a robot;
- wherein:
- (a) the primary platform includes a central long axis and the secondary platform includes a central long axis, (b) the central long axis of the secondary platform is not parallel to the central long axis of the primary platform, and (c) the central long axis of the secondary platform is not orthogonal to the central long axis of the primary platform;
- wherein:
- (a) an additional axis is orthogonal to the central long axis of the primary platform, and (b) the additional axis intersects both of the primary and secondary platforms as well as a void that exists between portions of the primary and secondary platforms;
- wherein:
- (a) the secondary platform has first and second ends which oppose each other and which both intersect the central long axis of the secondary platform, (b) the second end only couples to the primary platform via the first end, and (c) the void exists between the second end and the primary platform;
- wherein:
- (a) the primary platform includes first and second lateral-most opposing edges that are coupled to each other by a curved wall of the primary platform, the curved wall including a midpoint that is equidistant from the first and second lateral-most opposing edges;
- and (b) the first lateral-most edge, the second lateral-most edge, and the curved wall collectively form the void which is configured to receive the hand.
13 more elements
An apparatus comprising:
- a primary platform configured to support a hand and a forearm;
- a secondary platform statically coupled to the primary platform;
- a primary strap coupled to the primary platform;
- the primary strap configured to secure the forearm to the primary platform;
- a secondary strap coupled to the secondary platform, the secondary strap configured to secure the hand to the secondary platform;
- and
- a coupler to couple the primary platform to a robot;
- wherein:
- (a) the primary platform includes a central long axis and the secondary platform includes a central long axis, (b) the central long axis of the secondary platform is not parallel to the central long axis of the primary platform, and (c) the central long axis of the secondary platform is not orthogonal to the central long axis of the primary platform;
- wherein:
- (a) the primary strap has first and second ends which oppose each other, the first end of the primary strap being fixed to the primary platform;
- and (b) the secondary strap has first and second ends which oppose each other, the first end of the secondary strap being fixed to the secondary platform;
- wherein in a first configuration:
- (a) the second end of the primary strap is only secured to the primary platform indirectly via the first end of the primary strap;
- and (b) the second end of the secondary strap is only secured to the primary platform indirectly via the first end of the secondary strap;
- wherein in a second configuration:
- (a) the second end of the primary strap is secured directly to the primary platform and is configured to secure the forearm to the primary platform;
- (b) the second end of the secondary strap is secured indirectly to the primary platform via the first end of the secondary strap and is configured to secure the hand to the primary platform
- wherein:
- (a) an additional axis is orthogonal to a central long axis of the primary platform, and (b) in the second configuration the additional axis intersects both of the primary and secondary platforms as well as a void that exists between portions of the primary and secondary platforms, the void being configured to receive the hand;
- wherein:
- (a) the primary platform includes first and second lateral-most opposing edges that are coupled to each other by a curved wall of the primary platform, the curved wall including a midpoint that is equidistant from the first and second lateral-most opposing edges;
- and (b) the first lateral-most edge, the second lateral-most edge, and the curved wall collectively form the void which is configured to receive the hand.
20 more elements
Dependencies are inferred from the claim text.